Aria  2.8.0
ArActionLimiterBackwards Class Reference

Action to limit the backwards motion of the robot based on range sensor readings. More...

#include <ArActionLimiterBackwards.h>

Inherits ArAction.

Public Member Functions

 ArActionLimiterBackwards (const char *name="speed limiter", double stopDistance=-250, double slowDistance=-600, double maxBackwardsSpeed=-250, double widthRatio=1.5, bool avoidLocationDependentObstacles=true)
 Constructor. More...
virtual ArActionDesiredfire (ArActionDesired currentDesired)
virtual ArActionDesiredgetDesired (void)
virtual const ArActionDesiredgetDesired (void) const
virtual ~ArActionLimiterBackwards ()
- Public Member Functions inherited from ArAction
virtual void activate (void)
 Activate the action.
 ArAction (const char *name, const char *description="")
virtual void deactivate (void)
 Deactivate the action.
virtual const ArArggetArg (int number) const
 Gets the numbered argument. More...
virtual ArArggetArg (int number)
 Gets the numbered argument.
virtual const char * getDescription (void) const
 Gets the long description of the action.
virtual const char * getName (void) const
 Gets the name of the action.
virtual int getNumArgs (void) const
 Find the number of arguments this action takes.
ArRobotgetRobot () const
 Get the robot we are controlling, which was set by setRobot()
virtual bool isActive (void) const
 Returns whether the action is active or not.
virtual void log (bool verbose=true) const
 Log information about this action using ArLog.
virtual void setRobot (ArRobot *robot)
 Sets the robot this action is driving. More...
virtual ~ArAction ()

Protected Attributes

bool myAvoidLocationDependentObstacles
ArActionDesired myDesired
double myMaxBackwardsSpeed
double mySlowDist
double myStopDist
double myWidthRatio
- Protected Attributes inherited from ArAction
std::map< int, ArArgmyArgumentMap
std::string myDescription
bool myIsActive
std::string myName
int myNumArgs
 The robot we are controlling, set by the action resolver using setRobot()

Additional Inherited Members

- Static Public Member Functions inherited from ArAction
static bool getDefaultActivationState (void)
 Gets the default activation state for all ArActions.
static void setDefaultActivationState (bool defaultActivationState)
 Sets the default activation state for all ArActions.
- Protected Member Functions inherited from ArAction
void setNextArgument (ArArg const &arg)
 Sets the argument type for the next argument (must only be used in a constructor!)
- Static Protected Attributes inherited from ArAction
static bool ourDefaultActivationState = true

Detailed Description

Action to limit the backwards motion of the robot based on range sensor readings.

This class limits the backwards motion of the robot according to range sensor readings (e.g. sonar, laser), and the parameters given. When the range sensor (e.g. sonar or laser) detects rearward obstacles closer than the given parameters, this action requests that the robot decelerate or stop any current backwards movement.

actionGroupExample.cpp, actsColorFollowingExample.cpp, gpsRobotTaskExample.cpp, gripperExample.cpp, teleopActionsExample.cpp, and triangleDriveToActionExample.cpp.

Constructor & Destructor Documentation

◆ ArActionLimiterBackwards()

ArActionLimiterBackwards::ArActionLimiterBackwards ( const char *  name = "speed limiter",
double  stopDistance = -250,
double  slowDistance = -600,
double  maxBackwardsSpeed = -250,
double  widthRatio = 1.5,
bool  avoidLocationDependentObstacles = true 


namename of the action
stopDistancedistance at which to stop (mm)
slowDistancedistance at which to slow down (mm)
maxBackwardsSpeedmaximum backwards speed, speed allowed scales from this to 0 at the stop distance (mm/sec)
widthRatioThe ratio of robot width to the width of the region this action checks for sensor readings.
avoidLocationDependentObstaclesIf true, stop as the robot nears location-dependent sensed obstacles, if false, ignore them.

The documentation for this class was generated from the following files: